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Harmonic Drive HS-360 Series, Руководство пользователя

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Harmonic Drive HS-360 Series Скачать руководство пользователя страница 79

 

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 servo drover  

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 Series 

 

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73

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Acceleration feed forward factor ·················· 44,48 
Model ····························································· 2,21 
Over-current················································· 59,63 
Overheat ······················································ 59,62 
Overload ······················································ 59,60 
Feedback pulses count ································ 39,43 
Reverse inhibit ··············································· 8,14 
Reverse torque limit ····································· 44,50 
Position error allowance···················· 40,43,44,45, 
Current speed ··················································· 39 
Structure/installing procedure······························ 3 
Troubleshooting ················································ 67 
Circuit breaker··················································· 28 
Circuit protector················································· 28 
Servo on ························································ 7,13 
Servo state display············································ 37 
Servo parameters setup software ····················· 73 
Maximum output current (rms) ···························· 3 
Maximum input pulse frequency ························· 3 
Trial run····························································· 32 
Signal ground······················································ 9 
System failure ·············································· 59,63 
Effective duty ratio ············································ 39 
Shutoff sequence ·············································· 31 
Ambient conditions·············································· 3 
Receive data ······················································· 9 
Output signal common ··································· 7,15 
Output pin logic setting (bit) ························· 44,55 
Service temperature······································· 3,23 
Impact ······························································· 23 
Service humidity············································· 3,23 
State display mode······································· 36,37 
Service power supply·········································· 3 
Serial interface ···················································· 3 
Serial port connector········································ 6,9 
Command speed··············································· 39 
Command pulse frequency ······························· 39 
Cause pulse count ······································· 39,43 
Command pulse input ······································· 10 
Electronic gear-numerator ··························· 44,49 
Electronic gear-denominator ························ 44,49 
Command pulse input configuration············· 44,54 
Vibration···························································· 23 
Numeric monitor mode································· 36,39 
Control function··················································· 3 
Control output signal ··········································· 3 
Control state display ···································· 39,40 
Control I/O ··················································· 10,12 
Control I/O connector·········································· 6 
Control I/O signal ················································ 3 
Control input filter time constant··················· 44,53 
Control method ··················································· 3 
Forward inhibit ··············································· 8,14 
Forward torque limit ····································· 44,50 
Isolation transformer ···································· 28,74 
Connector ···················································· 28,72 
Grounding terminal ····································· 6,7,29 
Installing······················································· 23,24 
Grounding ························································· 24 
Ground wire cable········································ 27,29 
Location ···························································· 23 
Operations ························································ 32 
Transmit data ······················································ 9 
Request to transmit············································· 9 
Speed step correction ·································· 44,49 
Speed limit ··················································· 44,57 

Speed feed forward factor ····························44,47 
Speed loop integral gain·······························44,47 
Speed loop derivative gain ···························44,47 
Speed loop proportional gain························44,46 
2nd Position loop gain ··································44,53 
2nd Speed loop proportional gain·················44,53 
2nd speed loop integral gain ························44,53 
2nd Control switching range ·························44,53 
Dynamic brake on/off·······························13,44,58 
Data Set Ready ···················································9 
Data Terminal Ready ···········································9 
Charge voltage monitor ··································5,34 
Clear to send ·······················································9 
Communication condition setting··················44,57 
Rated output current (rms) ··································3 
Stop cause display ·······································39,40 
Applicable position sensor···································3 
Power supply terminal ······································6,7 
Power cable·······················································27 
Power supply voltage ····························· 22

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44,54 

Power on sequence···········································31 
Power loss·························································23 
Accessories ·······················································21 
Torque command filter ··································44,48 
Torque command···············································39 
Torque step correction ··································44,50 
Torque peak·······················································39 
Built-in circuit ·······················································3 
Built-in functions ··················································3 
I/O state display············································39,40 
I/O signal cable··················································30 
Input signal ···················································12,13 
Input signal common ······································7,13 
Input pin logic setting (bit) ····························44,55 
Action against noise ··········································24 
Noise filter ····················································25,28 
Parameters························································44 
Parameter setup mode ·································36,38 
Pulse output configuration ····························19,20 
Non-connection terminal ·····································7 
Display panel component names ························5 
Code plus pulse train········································· 11 
Frame ground················································7,8,9 
Error counter reset ·········································7,14 
Excessive error·············································59,64 
Error pulse count ··········································39,43 
Protective functions ········································3,59 
Maintenance······················································34 
Usual operation ·················································34 
Nameplate ·························································21 
Memory failure (EEPROM)···························59,60 
Monitor ································································3 
Line driver command ····································10,19

 

Содержание HS-360 Series

Страница 1: ...so as to prevent an accident resulting in a serious physical injury damaged by a malfunction or improper operation Product specifications are subject to change without notice for improvement purposes...

Страница 2: ...m impact or shock No corrosive inflammable or explosive gas Provide sufficient noise suppression and safe grounding Always keep signal wire away from noises to avoid vibration and malfunction Keep sig...

Страница 3: ...pulse input configuration 11 3 2 1 2 pulse train FWD and REV pulse train 11 3 2 2 1 pulse train polarity pulse train 11 3 2 3 2 pulse train 2 phase pulses with 90 degree difference 11 3 3 Control Inpu...

Страница 4: ...or daily operations 34 5 2 2 Daily maintenance 35 Chapter 6 Operating the display panel 36 6 1 Outline of modes 36 6 2 Changing a mode 36 6 3 Monitor mode display details 37 6 3 1 Servo state display...

Страница 5: ...ctive functions 59 8 1 Outline of protective functions 59 8 2 Details of protective functions 60 Chapter 9 Troubleshooting procedure and action 67 9 1 No rotation of actuator 67 9 2 Unstable rotation...

Страница 6: ...DC servo driver HS 360 Series Memo...

Страница 7: ...y viewing Parameter mode the seven segment LED display Substantial monitoring functions The status of operation can be continuously displayed as either Status display mode or Numeric monitor mode and...

Страница 8: ...S 17 6006 RHS 17 3006 RHS 20 6007 RHS 20 3007 RHS 20 6012 RHS 20 3012 RHS 25 6012 RHS 25 3012 RFS 20 6007 RFS 20 3007 RFS 20 6012 RFS 20 3012 RFS 25 6012 RFS 25 3012 The 1000P R line driver specificat...

Страница 9: ...operation waveform can also be monitored with using the dedicated software Protective functions Memory failure overload encoder failure regeneration failure system failure over current excessive error...

Страница 10: ...drawing of the DC reactor 15mH The following illustrations show the shape and dimensions of a DC reactor Applicable to HS 360 3 Heat sink A DC reactor of 15mH needs to be connected between the driver...

Страница 11: ...manual JOG operation of actuators Charge voltage monitor Indicate the monitored voltage of the power supply terminal While the LED is on do not touch the terminal because it is at high voltage CN1 ex...

Страница 12: ...pply terminal R T Power supply connection AC 100 V power supply terminals Be sure to use only the voltage not shown on the driver TB1 grounding terminal E Used for grounding To prevent electric shock...

Страница 13: ...s on or off the servo 6 A M RST Alarm Reset Resets the alarm output Detected at the edge 7 CLEAR Error Counter Reset Resets the position error counter Detected at the edge Control input 8 IN COM Input...

Страница 14: ...Encoder Monitor Phase B Output M o n i t o r O u t p u t 27 MON Z Encoder Monitor Phase Z Output Encoder monitor pulse output open collector output 28 NC Non Terminating Terminal Note 3 29 LMT Vcc LM...

Страница 15: ...0 2mm2 shielded electric wire 3 Maximum wiring length 10m or less 4 Configure the communication cables Configure the communication cables according to the following figure Personal computer monitoring...

Страница 16: ...ion If the 1k resistor is omitted the driver may break Caution Encoder signal processing The HS 360 driver executes the internal feedback process with a signal that is obtained by multiplying the enco...

Страница 17: ...FWD port pair only and the REV port pair accepts the sign of rotary direction as shown in the figure below Off or Low level state is for the FWD command and On or High level is for the REV command 3...

Страница 18: ...ircuit Prepare it separately Values in are the values when 5V power supply is impressed External power supply of 5V is needed The voltage is set to 24V during preshipment inspection Set all 1 to 4 on...

Страница 19: ...e ready The edge is used for detection If an unclearable alarm occurs turn off the power once In this case turn the power on again after removing the cause of the alarm 2 The logic can be changed by s...

Страница 20: ...orward or reverse torque while the input signal is being generated If both of the input signals are generated the actuator generates neither forward nor reverse torque The inputs may be used to limit...

Страница 21: ...mA per circuit CN1 13 output signal common OUT COM Function This is a common terminal for the READY ALARM IN POS and Z IZ output signals CN1 9 ready output READY Function 1 When a servo on input when...

Страница 22: ...n position range setting the output transistor goes on Connection Design the receiving circuit so that the following are satisfied Voltage DC 30V or less Current 100mA or less CN1 12 encoder Phase Z o...

Страница 23: ...ut the Phase A B or Z pulse with the appropriate voltage to indicate the monitored result of the encoder Prepare DC 5V for the output circuit power separately Connection 1 The external supply voltage...

Страница 24: ...t the shielded wire securely to CN1 35 and 36 A B Z Equivalent toAM26LS31 DC servo actuator A B Z PG Vcc PG 0V 5V 0V 220 220 220 Driver HS 360 9 10 11 12 13 14 1 4 5 8 FG 35 36 Equivalent to 26C32 Shi...

Страница 25: ...RST ENABLE CLEAR DC24V 0V 5 6 7 2 7k 2 7k 2 7k 35 36 CN2 1 4 5 8 9 10 12 13 5V GND 11 14 E LMT VCC FWD LMT REV LMT DC 24V Input of operation limit signal 2 7k 2 7k 29 31 33 FWD FWD REV REV DC reactor...

Страница 26: ...4 LMT VCC FWD LMT REV LMT DC 24V Input of operation limit signal FWD FWD REV REV 5V COM 0V 220 1 2 220 3 4 8 IN COM ALM RST ENABLE CLEAR DC24V 0V 5 6 7 2 7k 2 7k 2 7k DC reactor For HS 360 1A only TB2...

Страница 27: ...driver 4 Checking accessories The following parts are attached as accessories Check them 1 CN1 External I O Connector Cover 10314 52F0 008 Plug 10114 3000PE Manufacture 3M 2 CN2 Encoder Connector Cove...

Страница 28: ...t can easily fall down 4 Do not put anything on the driver The case of the driver may break 5 The allowable storage temperature is from 20 C to 85 C Do not expose it to sunlight for long periods of ti...

Страница 29: ...an 4 9m s2 0 5G 10Hz to 55Hz When there is a great deal of vibration near the driver attach a shock absorber under the base to dampen the vibration Impact less than 19 6m s 2 2G Make sure that dust wa...

Страница 30: ...equipment or radio noise interference due to poor cabling or poor grounding In addition it is necessary to provide proper cable management in order to suppress incorrect motion of the HS 360 driver b...

Страница 31: ...ure below Driver Model Ratings Manufacturer HS 360 1 SUP P5H EPR 250V 5A Okaya Electrics HS 360 3 SUP P10H EPR 250V 10A Install the noise filters and the HS 360 driver as near as possible with one ano...

Страница 32: ...s responsibility 10m or less providing that the condition of wire conductivity is less than 0 04 ohm m 4 Install surge protector devices to magnetic relays coils magnetic switches and solenoids 5 Sepa...

Страница 33: ...tor CN1 0 2mm 2 shielded cable Encoder connector CN2 0 3mm 2 twist pair shielded cable Note 1 When bundling wires or encasing into conduits plastic or metal pipes use the wire of one upper size Note2...

Страница 34: ...cuit reduces line voltage fluctuation avoid daisy chain wiring of the power lines and connect units with a main switch 4 5 4 Isolation transformer sold optionally The use of an isolation transformer i...

Страница 35: ...g size or more Terminal connector Symbol Minimum allowable wire size mm 2 Grounding terminal E Grounding mark 3 5 The HS 360 driver is provided with grounding terminal Make connection between the grou...

Страница 36: ...llowable Wire Sizes mm 2 External I O connector CN1 0 2mm 2 twist pair cable or twist pair whole shielded cable Encoder connectors CN2 0 3mm 2 twist pair shielded cable 4 8 2 Pin layout of external I...

Страница 37: ...equence on the high level equipment to power on and off the HS 360 driver at the following timings Power on off sequences ON Release Servo on Power nn Alarm Enable Command OFF ON Output Input Input Mi...

Страница 38: ...data mode display appears on the HS 360 driver 1 Inspect the cabling before turning the power ON and correct poor cabling if necessary 1 Is the cabling correct 2 Is there any temporary cabling Are al...

Страница 39: ...OG By working with the built in display panel pulse command input can be checked and the actuator rotation can be checked without connecting the input signal Refer to Chapter 6 Operating the display p...

Страница 40: ...tion 9 1 The actuator does not rotate in Chapter 9 Troubleshooting This section describes notices on usual operations and daily maintenance 5 2 1 Notices for daily operations 1 Do not make any wiring...

Страница 41: ...or change no faults no abnormalities Consult with Harmonic drive systems 1 Shut down electric power before maintenance Maintenance while power is active may cause electric shock 2 Immediately after th...

Страница 42: ...be changed from this page to another mode by operating a key as shown in the figure below Parameter setup mode This mode allows you to view or change servo parameters Parameters related to the basics...

Страница 43: ...To take action against display of an alarm number refer to Chapter 8 Protective functions Example When Alarm 02 encoder failure occurs the alarm number blinks 6 3 3 Resetting the alarm Some alarms can...

Страница 44: ...P and DOWN keys to select the desired parameter number to display or change Select the parameter mode by pressing the MODE key repeatedly Press the DATA key The initial state returns by pressing it ag...

Страница 45: ...display Rated torque Low order digits only 14 Command pulse frequency display Frequency kHz Low order digits only 15 Stop cause display Refer to Section 6 5 4 16 Control state display Refer to Sectio...

Страница 46: ...signal has been detected REV LMT On when the REV LMT external input signal has been detected POVR On when a position error allowance excessive alarm has occurred SOVR On when the speed limit is worki...

Страница 47: ...ct the JOG mode by pressing the MODE key repeatedly Turn on off JOG using the DATA key The actuator rotates in forward direction while the UP key is held own and in reverse order while the DOWN key is...

Страница 48: ...ep takes place for the pulse count that has been set for 20 JOG feed pulse count of Parameter setup mode Consecutive feed actuator When the UP or DOWN key is pressed and held down the operation in the...

Страница 49: ...or can only display a numeric value without permitting you to change it Press the DATA key to display the high order digits Press the UP key to display the high order digits Press the DOWN key to disp...

Страница 50: ...ng range Pulse 0 9999 Note 4 28 Control input filter time constant 0 99 0 29 Note 3 0 0 0 31 Command pulse input configuration 0 2 2 33 Power supply voltage switch 0 1 0 38 Input pin logic setting bit...

Страница 51: ...mum pulse command In addition rotary operation is no longer enabled due to a mechanical failure against the actuator that attempts rotary operation by the command pulse input and an alarm is output wh...

Страница 52: ...actual setting varies with the DC servo actuator model When changing the value consider the defaults shown in Section 7 1 Default parameters as the standard guide setting Speed loop proportional gain...

Страница 53: ...ing the value consider the defaults shown in Section 7 1 Default parameters as the standard guide setting Speed loop action gain Function This parameter specifies the speed loop action gain Generally...

Страница 54: ...ting is changed the driver must be powered on again Function This parameter specifies the rotary direction of the actuator Note For DC servo actuator the rotary direction is reverse to the rotation th...

Страница 55: ...lt Numerator 1 999 1 Denominator 1 999 1 Note By default the internal pulse is performed with the encoder resolution 4 times The amount of movement of the actuator will thus be the one corresponding t...

Страница 56: ...imit Upper limit Default 0 9999 0 The setting relates to the one in 24 Step correction switching range of Parameter setup mode Forward torque limit Reverse torque limit Function This parameter specifi...

Страница 57: ...Reduction ratio JOG feed pulse count Function When the UP or DOWN key is pressed in JOG mode during JOG operation forward or reverse rotation takes place until the pulse count set for this parameter...

Страница 58: ...Unit Lower limit Upper limit Default 10 9999 Note Note Setting of this parameter is not required for servo operations under normal operating conditions Setting is sometimes effective for applications...

Страница 59: ...s parameter as it is set to 0 for operations under normal operating conditions Be certain to consult the HarmonicDrive System sales office before changing this parameter when a change seems necessary...

Страница 60: ...refer to Section 3 2 Selecting the command pulse input configuration Setting After the setting is changed the power must be turned on again Power supply voltage switch After the setting is changed th...

Страница 61: ...ALM RST 0 2 CN1 7 Error counter clear CLEAR 0 4 CN2 31 Forward inhibit FWD LMT 0 8 CN2 33 Reverse inhibit REV LMT 0 16 Setting Unit Lower limit Upper limit Default 0h 0 1Fh 31 0h After the setting is...

Страница 62: ...CLEAR signal is input 1 Clears the error counter when the ALM RST or ENABLE signal is input Setting Unit Lower limit Upper limit Default 0 1 1 Note Setting this parameter to 1 disables the function of...

Страница 63: ...llowing table Baud rate bps Parity bit 38400 28800 19200 14400 9600 4800 2400 1200 EVEN 0 3 6 9 12 15 18 21 ODD 1 4 7 10 13 16 19 22 NONE 2 5 8 11 14 17 20 23 Setting Unit Lower limit Upper limit Defa...

Страница 64: ...or the servo is turned off When the driver is powered off the dynamic brake is always in operation Setting Unit Lower limit Upper limit Default 0 2 1 Regeneration brake on off Function If this paramet...

Страница 65: ...nt exceeding the predetermined level flowed for 1ms or longer Impossible 07 Excessive error Indicates that the amount of accumulated pulses for command pulses exceeded the parameter error limit Possib...

Страница 66: ...ion of instruction Do this according to the instructions in Section 4 3 Location and installing Overload Alarm clear Possible Description This function continuously monitors the motor current When bot...

Страница 67: ...ion according to the instructions in Chapter 4 Installing the HS 360 driver Encoder failure Alarm clear Impossible Description This alarm occurs when the signal from the encoder stops The only way to...

Страница 68: ...when the temperature of the HS 360 driver radiator plate exceeds the allowable temperature 75 C After the temperature decreases below the operation detection temperature reset the alarm or power on t...

Страница 69: ...ding to the instructions in Section 4 4 Suppressing noise Cause 2 HS 360 driver control circuit failure Action Contact a business office of Harmonic Drive Systems Replacing the HS 360 driver Over curr...

Страница 70: ...the pulse count being set for 00 Transmission error allowance of Parameter setup mode It can be reset by inputting the signal to CN1 7 Error counter clear CLEAR or CN1 6 Alarm reset ALM RST The error...

Страница 71: ...does not operate normally The only way to reset it is to turn on the power Possible causes 1 If the alarm occurs when the power is turned on Cause 1 A motor wire has been earth fault Action Ensure th...

Страница 72: ...Cause 2 Disconnection or wiring failure of encoder cable Action Check the encoder cables and their wiring Cause 3 HS 360 driver control circuit failure Action Contact a business office of Harmonic Dr...

Страница 73: ...ower normal Are NFB and MS on Power failure NFB or MS failure Wrong wiring N N Y Is MS open with power on sequence N Driver failure Y Recover power after removing the cause Y Turn on NFB and MS Is an...

Страница 74: ...tor shaft N Actuator fault Is CN1 7 CLEAR sometimes being input Shut off CN1 7 CLEAR N Y Previous Is the power supply voltage normal Apply the proper voltage N Is the power supply voltage fluctuation...

Страница 75: ...Decrease the load fluctuation Use a large actuator N Y Does gain adjustment succeed N Y Set the gain to the proper value Y Is the Motor wire disconnected Reconnect the motor wire N Y Is the Torque lim...

Страница 76: ...the actuator Y Does rattle or resonance occur inthe mechanical system N Improve the mechanical system Replace the actuator or driver Is the higher level system program normal Amend the program N Is th...

Страница 77: ...nertia of the load proper Decrease the moment of inertia of the load N Y Previous page Does gain adjustment succeed N Y Correct the gain properly N Does rattle or resonance occur n the mechanical syst...

Страница 78: ...5 40 REV 7 10 11 REV 7 10 11 REV LMT 8 14 40 51 55 REV operation pulse 7 REV operation pulse 7 RS 232C compliant 6 9 RS 232C communication cable 9 73 RTS 9 V ON 37 40 RXD 9 ENABLE 7 13 37 40 54 SPD LM...

Страница 79: ...rmer 28 74 Connector 28 72 Grounding terminal 6 7 29 Installing 23 24 Grounding 24 Ground wire cable 27 29 Location 23 Operations 32 Transmit data 9 Request to transmit 9 Speed step correction 44 49 S...

Страница 80: ...t that has been subject to 1 user s misapplication improper installation inadequate maintenance or misuse 2 disassembling modification or repair by others than Harmonic Drive Systems Inc 3 imperfectio...

Страница 81: ...nic Drive AG Hoenbergstra e 14 65555 Limburg Germany TEL06431 5008 0 FAX06431 5008 18 Harmonic Drive L L C 247 Lynnfield Street Peabody MA 01960 U S A TEL 1 978 532 1800 FAX 1 978 532 9406 1406 2R THS...

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